/*	Copyright (C) 2012  Claude Richard
 *
 *	This program is free software: you can redistribute it and/or modify
 *	it under the terms of the GNU General Public License as published by
 *	the Free Software Foundation, either version 3 of the License, or
 *	(at your option) any later version.
 *
 *	This program is distributed in the hope that it will be useful,
 *	but WITHOUT ANY WARRANTY; without even the implied warranty of
 *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *	GNU General Public License for more details.
 *
 *	You should have received a copy of the GNU General Public License
 *	along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "System.hpp"


System::System( int numGeneralizedCoordinates )
	: mNumGeneralizedCoordinates( numGeneralizedCoordinates )
{
}

VectorND System::computeGeneralizedAcceleration(
		const VectorND& generalizedPosition, const VectorND& generalizedVelocity, const VectorND& generalizedForce )
{
	Matrix1Vector1 Ab = computeAB( generalizedPosition, generalizedVelocity );
	return Ab.mMatrix.invert() * ( generalizedForce - Ab.mVector );
}